It's a communication setup, which does not affect browser agent string, which in turn can be manipulated to allow access to AMP over the same connection.
Maybe the majority of iOS 15 traffic coming from Apple servers instead of individuals is causing trouble with Google's current AMP implementation somehow, so they check the iOS 15 user agent and disable it?
IMO more likely Google just has a user agent whitelist or regex that misses iOS 15 and AMP was just showing up initially while Apple was sending an old user agent during the iOS 15 betas or something.
Majority of Private Relay traffic comes from Cloudflare and Fastly. That's one of the relay's privacy features: the server don't know where the client comes from.